Wireless Internet of Things ultrasonic intelligent nondestructive testing terminal

Abstract

The invention discloses a wireless Internet of Things ultrasonic intelligent nondestructive testing terminal, which relates to the technical field of electronics and comprises an ultrasonic module, an environment sensing module, a motion module, a signal processing module and a controller, the detection method of the ultrasonic intelligent nondestructive detection terminal comprises the steps that an operator controls the motion module through the controller to drive the terminal to move to the position of a detected object, the environment sensing module detects the working environment of the terminal, and the ultrasonic module detects the detected object. The signal processing module is used for processing and analyzing the ultrasonic signal and feeding back an analysis result to an operator. By arranging the environment sensing module, the function of detecting the working environment of the terminal is achieved, the problems of nonlinear attenuation of ultrasonic waves, reduction of terminal performance and inaccurate detection results are solved, the accuracy and reliability of terminal detection are improved, the phenomena of misjudgment and missed judgment are reduced, and the service life of the terminal is prolonged.

Description

Technical Field

[0001] The present invention relates to the field of electronic technology, in particular to a wireless Internet of Things ultrasonic intelligent nondestructive testing terminal. Background Art

[0002] With the advancement of science and technology, ultrasonic nondestructive testing technology is gradually developing in the direction of digitalization and intelligence. Ultrasonic nondestructive testing technology is a method that uses ultrasound to evaluate the state of the object being tested without damaging or affecting the performance of the object being tested. This method has the advantages of portable testing equipment, simple operation and accurate test results. It is widely used in many key industries such as industry, aerospace, automobile manufacturing, petrochemicals, railway transportation and nuclear power energy. Ultrasonic nondestructive testing technology can identify and eliminate defective products in the production process, improve product production quality and production efficiency, and is an indispensable testing method in modern manufacturing. At the same time, the rapid development of Internet of Things technology has provided new application scenarios and possibilities for ultrasonic nondestructive testing technology. Internet of Things technology enables testing equipment to be seamlessly integrated with other smart devices to achieve real-time data transmission and analysis. By building the same Internet of Things platform and introducing technologies such as cloud computing and big data analysis, the intelligence level of the testing process can be further improved, and functions such as remote monitoring, fault diagnosis and predictive maintenance can be realized; Ultrasonic nondestructive testing technology has high requirements on the surface conditions of the materials being tested. If the surface is rough, oily, or rusty, it will affect the propagation and reflection of ultrasonic waves. During the testing process, a coupling agent is required to expel the air between the probe and the material being tested, which increases the cost of testing. The detection probe has blind spots during use and cannot perform overall testing on the material being tested. Different materials require different probes. Inaccurate probe selection will affect the accuracy of the test and the service life of the equipment.

[0003] 1. Patent document CN110535535B discloses an ultrasonic calibration method, device, mobile terminal and storage medium. The above patent realizes the calibration of ultrasonic characteristic values ​​to improve the accuracy of the mobile terminal detecting the moving state of the relative object, but the above patent cannot realize the function of detecting the terminal working environment.

[0004] 2. Patent document CN110058243B discloses a terminal device. The above patent realizes that in the far state, the processing module detects the first characteristic value of the received ultrasonic signal, determines whether it reaches a predetermined threshold, and uses the detection to determine whether to switch to the approaching state; in the approaching state, the processing module detects the second characteristic value of the received ultrasonic signal, determines whether it reaches a predetermined threshold, and uses the detection to determine whether to switch to the far state, but the above patent cannot realize the function of accurate multi-point detection of the detected object.

[0005] 3. Patent document CN107197069B discloses a detection device for an acoustic wave transmitter and a receiver. The above patent realizes the detection of the ultrasonic transmitter of the terminal device without the need for manual operation. The signal conversion is also completely realized by the detection device of the ultrasonic transmitter and the detection device of the ultrasonic receiver, thereby improving the detection efficiency. However, the above patent cannot realize the function of selecting ultrasonic waves of appropriate frequencies for detection of different materials.

[0006] 4. Patent document CN112415099B discloses a portable nondestructive testing device for steel based on wireless information transmission. The above patent realizes the use of ultrasonic data collection to collect the detection data of the ultrasonic transmitter, thereby realizing the unification of the detection data. The data integration unit can not only display the data information in a graphical manner through the display control unit, but also transmit wireless information through the wireless signal transmission unit. However, the above patent cannot realize the function of ultrasonic detection in a complex environment.

[0007] In summary, the above patents cannot realize the function of detecting the working environment of the terminal, cannot realize the function of accurately detecting the detected object at multiple points, cannot realize the function of selecting ultrasonic waves of appropriate frequencies for detecting different materials, and cannot realize the function of ultrasonic detection in complex environments, resulting in nonlinear attenuation of ultrasonic waves, degradation of terminal performance, incomplete information collection due to a single detection point, inaccurate defect positioning, low reliability of detection results, excessive or insufficient ultrasonic information received by the object, difficulty in terminal detection in complex environments, and potential safety hazards; To this end, the present application proposes a wireless Internet of Things ultrasonic intelligent non-destructive testing terminal that can detect the terminal working environment, accurately detect multiple points of the detected object, select ultrasonic waves of appropriate frequencies for detection of different materials, and perform ultrasonic detection in complex environments. Summary of the invention

[0008] The purpose of the present invention is to provide a wireless Internet of Things ultrasonic intelligent non-destructive testing terminal to solve the technical problems proposed in the above background technology that the terminal working environment cannot be detected, the multi-point accurate detection of the detected object cannot be realized, the function of selecting ultrasonic waves of suitable frequencies for detection of different materials cannot be realized, and the function of ultrasonic detection in a complex environment cannot be realized, resulting in nonlinear attenuation of ultrasonic waves, degradation of terminal performance, incomplete information collection due to a single detection point, inaccurate defect positioning, low reliability of detection results, excessive or insufficient amount of ultrasonic information received by the object, difficulty in terminal detection in a complex environment, and potential safety hazards.

[0009] To achieve the above object, the present invention provides the following technical solutions: a wireless Internet of Things ultrasonic intelligent nondestructive testing terminal, comprising an ultrasonic module, an environment sensing module, a motion module, a signal processing module and a controller, wherein the detection method of the ultrasonic intelligent nondestructive testing terminal is: S1: The operator controls the motion module through the controller to drive the terminal to move to the position of the object to be detected; S2: The environment perception module detects the terminal working environment; S3: The ultrasonic module detects the object to be detected; S4: The signal processing module processes and analyzes the ultrasonic signal; S5: The signal processing module feeds back the analysis result to the operator; The environment sensing module is internally provided with a temperature sensor, a humidity sensor and a sound sensor; The S2 is specifically: S21: The temperature sensor detects the temperature of the environment in which the detected object is located, and transmits the detection information to the signal processing module; S22: The humidity sensor detects the humidity of the environment in which the detected object is located, and transmits the detection information to the signal processing module; S23: The sound sensor detects the humidity of the environment in which the detected object is located, and transmits the detection information to the signal processing module; S24: The signal processing module compares the received temperature, humidity and sound information with preset values, the preset value range of temperature is -10°C to 40°C, the preset value range of humidity is 40% to 60%, and the preset value range of sound is 50 to 70 decibels; S25: When the temperature, humidity and sound of the environment where the detected object is located meet the terminal working environment standards, the terminal detects the detected object; S26: When the temperature, humidity and sound of the environment where the detected object is located do not meet the terminal working environment standards, the motion module drives the terminal to move and selects a position that meets the terminal working environment standards for detection.

[0010] Preferably, a visual sensor, a probe, a converter, and an ultrasonic transducer are provided inside the ultrasonic module, and the probe is connected to the ultrasonic transducer via the converter.

[0011] Preferably, the ultrasonic signal emitted by the ultrasonic module is a ranging sound wave and a detection sound wave, the frequency of the ranging sound wave is 40 kHz, and the frequency of the detection sound wave is 0.5 MHz to 100 MHz.

[0012] Preferably, the S1 is specifically: S11: The ultrasonic module transmits a ranging sound wave with a frequency of 40kHz to the detected object, and calculates the distance between the terminal and the detected object by recording the time of receiving the reflected sound wave through the formula s=vt, where s is the specific distance between the terminal and the detected object, v is the speed of the ranging sound wave in the air 340m / s, and t is the time from the ultrasonic module transmitting the ranging sound wave to receiving the reflected sound wave; S12: When s is not greater than 0.5 mm, the motion module stops moving.

[0013] Preferably, the motion module is internally provided with a motion motor, a connecting shaft, a fixer and wheels, the motion motor is connected to the signal processing module via signal transmission, the wheel is connected to the motion motor via the connecting shaft, and a fixer is installed at the connection between the wheel and the connecting shaft.

[0014] Preferably, S3 is specifically: S31: The visual sensor collects information about the detected object and transmits the information to the signal processing module. By comparing the information with the information in the database, the ultrasonic transducer detects the detected object according to the detection sound waves with matching frequencies emitted by different objects; S32: The ultrasonic module receives the reflected ultrasonic wave and transmits the information to the signal processing module; S33: The operator controls the converter to switch the probe to detect the object at the same point; S33: The motion module drives the terminal to move and perform multi-point detection on the detection object; S34: After the multi-point detection is completed, repeat the operation to perform a second detection on the detected object.

[0015] Preferably, S4 is specifically: S41: The ultrasonic module converts the received echo into an electrical signal and transmits it to the signal processing module; S42: The signal processing module records the echo time of the ultrasonic module; S43: The signal processing module amplifies and filters the received echo signal; S44: Compare the echo signal with a preset standard to determine the nature, location and size of the defect; S45: After the signal processing module analyzes the echo signal, the analysis result is transmitted to the operator.

[0016] Preferably, the ultrasonic transducer is internally provided with a piezoelectric crystal, an electrode, a matching layer, a backing layer, a horn and a tool head, and the tool head is connected to the probe via a converter.

[0017] Preferably, the ultrasonic transducer transmits detection sound waves with matching frequencies according to different objects. When detecting steel plates and cast iron, the ultrasonic module transmits low-frequency ultrasonic waves with a frequency of 0.5MHz to 5MHz for detection; when detecting aluminum alloys and plastics, the ultrasonic module transmits medium-frequency ultrasonic waves with a frequency of 5MHz to 15MHz for detection; when detecting fine workpieces and thin plates, the ultrasonic module transmits high-frequency ultrasonic waves with a frequency of 15MHz to 100MHz for detection.

[0018] Preferably, the method for detecting the object to be detected by the ultrasonic transducer based on the detection sound waves with matching frequencies emitted by different objects is as follows: the operator disconnects the power supply of the ultrasonic transducer through the controller, the visual sensor transmits the signal of the object to be detected to the signal processing module, the signal processing module compares the information with the information in the database, and controls the ultrasonic module to automatically adjust the frequency. After the adjustment is completed, the power controller is restored to control the ultrasonic module to test the object to be detected.

[0019] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention realizes the function of detecting the working environment of the terminal by providing an environment perception module, solves the problems of ultrasonic nonlinear attenuation, terminal performance degradation and inaccurate detection results, can avoid environmental factors interfering with terminal detection, improves the accuracy and reliability of terminal detection, reduces the phenomenon of misjudgment and missed judgment, and prolongs the service life of the terminal; 2. The present invention realizes the function of multi-point detection of the detected object by providing an ultrasonic module and a motion module, solves the problems of incomplete information collection, inaccurate defect positioning and low reliability of detection results caused by a single detection point, can avoid the occurrence of missed detection problems, improve the accuracy and reliability of terminal detection, reduce the difficulty of analyzing the detection results, and improve the accuracy of defect positioning; 3. The present invention realizes the function of selecting ultrasonic waves of appropriate frequencies for different materials for detection by providing visual sensors and signal processing modules, solves the problem of excessive or insufficient ultrasonic information received by the object and inaccurate ultrasonic detection results, ensures that the reflection and scattering signals of defects are strong enough when ultrasonic waves propagate in the object, reduces the attenuation of ultrasonic waves, improves the detection efficiency of the terminal, and improves the detection range and accuracy of the terminal; 4. The present invention realizes the function of ultrasonic detection in complex environments by providing a controller, a visual sensor and a motion module, solves the problems of difficult terminal detection in complex environments, large errors in detection results and potential safety hazards, can broaden the application scenarios of terminal detection, improve the reliability and accuracy of terminal detection, ensure the safety of operators, and improve the flexibility of the terminal. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a working schematic diagram of the environment perception module of the present invention; Figure 2 It is a schematic diagram of the detection method of the present invention; Figure 3 It is a schematic diagram of the terminal composition of the present invention; Figure 4 This is a schematic diagram of an environment perception module of the present invention; Figure 5 It is a working schematic diagram of the motion module of the present invention. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] Example 1: Please refer to Figure 1 , Figure 2 , Figure 3 and Figure 4 A wireless Internet of Things ultrasonic intelligent nondestructive testing terminal includes an ultrasonic module, an environment sensing module, a motion module, a signal processing module and a controller. The detection method of the ultrasonic intelligent nondestructive testing terminal is: S1: The operator controls the motion module through the controller to drive the terminal to move to the position of the object to be detected; S2: The environment perception module detects the terminal working environment; S3: The ultrasonic module detects the object to be detected; S4: The signal processing module processes and analyzes the ultrasonic signal; S5: The signal processing module feeds back the analysis result to the operator; The environment sensing module is internally provided with a temperature sensor, a humidity sensor and a sound sensor; The S2 is specifically: S21: The temperature sensor detects the temperature of the environment in which the detected object is located, and transmits the detection information to the signal processing module; S22: The humidity sensor detects the humidity of the environment in which the detected object is located, and transmits the detection information to the signal processing module; S23: The sound sensor detects the humidity of the environment in which the detected object is located, and transmits the detection information to the signal processing module; S24: The signal processing module compares the received temperature, humidity and sound information with preset values, the preset value range of temperature is -10°C to 40°C, the preset value range of humidity is 40% to 60%, and the preset value range of sound is 50 to 70 decibels; S25: When the temperature, humidity and sound of the environment where the detected object is located meet the terminal working environment standards, the terminal detects the detected object; S26: When the temperature, humidity and sound of the environment where the detected object is located do not meet the terminal working environment standards, the motion module drives the terminal to move and selects a position that meets the terminal working environment standards for detection; The motion module is internally provided with a motion motor, a connecting shaft, a fixer and a wheel, the motion motor is connected to the signal processing module through signal transmission, the wheel is connected to the motion motor through the connecting shaft, and a fixer is installed at the connection between the wheel and the connecting shaft; The S1 is specifically: S11: The ultrasonic module transmits a ranging sound wave with a frequency of 40kHz to the detected object, and calculates the distance between the terminal and the detected object by recording the time of receiving the reflected sound wave through the formula s=vt, where s is the specific distance between the terminal and the detected object, v is the speed of the ranging sound wave in the air 340m / s, and t is the time from the ultrasonic module transmitting the ranging sound wave to receiving the reflected sound wave; S12: When s is not greater than 0.5 mm, the motion module stops moving.

[0023] Furthermore, the temperature sensor is provided with an optical system, a detection element and a conversion circuit. Based on the blackbody radiation law, any object with a temperature higher than absolute zero will radiate energy outward, and the amount of radiation energy is closely related to the temperature of its surface. The infrared radiation is received and focused by the optical system to guide the infrared radiation to the detection element. The detection element converts the received infrared radiation into an electrical signal. After amplification and processing by the conversion circuit, the signal is transmitted to the signal processing module. The humidity sensor is provided with a humidity sensing layer, an electrode, an insulating substrate and a processing circuit. Based on the characteristic that the resistance value of the humidity-sensitive material changes with humidity, when the ambient humidity changes, the humidity-sensitive material adsorbs or desorbs water molecules, causing the ion conduction state inside the material to change, thereby affecting the resistance value of the material. The information of the resistance value change is transmitted to the signal processing module through the processing circuit. The sound sensor is provided with a capacitive electret microphone and a processing circuit. The sound waves make the electret in the microphone The vibration of the film causes the capacitance to change, thereby generating a corresponding tiny voltage. After being converted into a voltage of 0-5V by the processing circuit, the information is transmitted to the signal processing module after A / D conversion. After being compared with the preset values, the temperature is within the range of -10℃~40℃, the humidity is within the range of 40%~60%, and the sound is ensured to be within the range of 50~70 decibels. The terminal starts to detect the object to be detected. After comparing with the preset values, when the temperature, humidity and sound are not within the preset range, the motion module drives the terminal to move to other positions for environmental information collection and comparison, ensuring that the working environment conditions of the terminal are within the preset range, realizing the function of detecting the terminal working environment, solving the problems of ultrasonic nonlinear attenuation, terminal performance degradation and inaccurate detection results, avoiding environmental factors interfering with terminal detection, improving the accuracy and reliability of terminal detection, reducing the phenomenon of misjudgment and missed judgment, and extending the service life of the terminal.

[0024] Example 2: Please refer to Figure 5 , a wireless Internet of Things ultrasonic intelligent non-destructive testing terminal, wherein a visual sensor, a probe, a converter, and an ultrasonic transducer are arranged inside the ultrasonic module, and the probe is connected to the ultrasonic transducer through the converter; The ultrasonic signals emitted and received by the ultrasonic module are ranging sound waves and detection sound waves, the frequency of the ranging sound waves is 40kHz, and the frequency of the detection sound waves is 0.5MHz to 100MHz; The motion module is internally provided with a motion motor, a connecting shaft, a fixer and a wheel, the motion motor is connected to the signal processing module through signal transmission, the wheel is connected to the motion motor through the connecting shaft, and a fixer is installed at the connection between the wheel and the connecting shaft; The S1 is specifically: S11: The ultrasonic module transmits a ranging sound wave with a frequency of 40kHz to the detected object, and calculates the distance between the terminal and the detected object by recording the time of receiving the reflected sound wave through the formula s=vt, where s is the specific distance between the terminal and the detected object, v is the speed of the ranging sound wave in the air 340m / s, and t is the time from the ultrasonic module transmitting the ranging sound wave to receiving the reflected sound wave; S12: The motion module stops moving when s is less than or equal to 0.5 mm; The S3 is specifically: S31: The visual sensor collects information about the detected object and transmits the information to the signal processing module. By comparing the information with the information in the database, the ultrasonic transducer detects the detected object according to the detection sound waves with matching frequencies emitted by different objects; S32: The ultrasonic module receives the reflected ultrasonic wave and transmits the information to the signal processing module; S33: The operator controls the converter to switch the probe to detect the object at the same point; S33: The motion module drives the terminal to move and perform multi-point detection on the detection object; S34: After the multi-point detection is completed, repeat the operation to perform a second detection on the detected object; Furthermore, an ultrasonic module is used to transmit ultrasonic waves with a frequency of 40kHz to the object to be detected, and the time t from the ultrasonic module transmitting the ultrasonic wave to the receiving of the reflected ultrasonic wave is recorded, and the distance s between the terminal and the detected soil is calculated by s=vt. The speed v of the ultrasonic wave is 300m / s. When the distance between the terminal and the object to be detected is less than or equal to 0.5mm, the motion module stops moving. After the ultrasonic module completes the detection of the object to be detected, the signal processing module controls the motion motor to drive the wheel to rotate through the connecting shaft, moves the terminal from the current position to other positions of the object to be detected, and controls the distance between the terminal and the object to be detected to be less than or equal to 0.5mm to detect the object to be detected again. Repeat the operation to perform multi-directional and multi-point detection of the object to be detected, thereby realizing the function of accurate multi-point detection of the object to be detected, solving the problems of incomplete information collection, inaccurate defect positioning and low reliability of detection results caused by a single detection point, avoiding the occurrence of missed detection problems, improving the accuracy and reliability of terminal detection, reducing the difficulty of analyzing detection results, and improving the accuracy of defect positioning.

[0025] Example 3: Please refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5A wireless Internet of Things ultrasonic intelligent nondestructive testing terminal includes an ultrasonic module, an environment sensing module, a motion module, a signal processing module and a controller. The detection method of the ultrasonic intelligent nondestructive testing terminal is: S1: The operator controls the motion module through the controller to drive the terminal to move to the position of the object to be detected; S2: The environment perception module detects the terminal working environment; S3: The ultrasonic module detects the object to be detected; S4: The signal processing module processes and analyzes the ultrasonic signal; S5: The signal processing module feeds back the analysis result to the operator; The environment sensing module is internally provided with a temperature sensor, a humidity sensor and a sound sensor; The S2 is specifically: S21: The temperature sensor detects the temperature of the environment in which the detected object is located, and transmits the detection information to the signal processing module; S22: The humidity sensor detects the humidity of the environment in which the detected object is located, and transmits the detection information to the signal processing module; S23: The sound sensor detects the humidity of the environment in which the detected object is located, and transmits the detection information to the signal processing module; S24: The signal processing module compares the received temperature, humidity and sound information with preset values, the preset value range of temperature is -10°C to 40°C, the preset value range of humidity is 40% to 60%, and the preset value range of sound is 50 to 70 decibels; S25: When the temperature, humidity and sound of the environment where the detected object is located meet the terminal working environment standards, the terminal detects the detected object; S26: When the temperature, humidity and sound of the environment where the detected object is located do not meet the terminal working environment standards, the motion module drives the terminal to move and selects a position that meets the terminal working environment standards for detection; The ultrasonic module is internally provided with a visual sensor, a probe, a converter, and an ultrasonic transducer, and the probe is connected to the ultrasonic transducer via the converter; The ultrasonic signals emitted and received by the ultrasonic module are ranging sound waves and detection sound waves, the frequency of the ranging sound waves is 40kHz, and the frequency of the detection sound waves is 0.5MHz to 100MHz; The S3 is specifically: S31: The visual sensor collects information about the detected object and transmits the information to the signal processing module. By comparing the information with the information in the database, the ultrasonic transducer detects the detected object according to the detection sound waves with matching frequencies emitted by different objects; S32: The ultrasonic module receives the reflected ultrasonic wave and transmits the information to the signal processing module; S33: The operator controls the converter to switch the probe to detect the object at the same point; S33: The motion module drives the terminal to move and perform multi-point detection on the detection object; S34: After the multi-point detection is completed, repeat the operation to perform a second detection on the detected object; The ultrasonic transducer is internally provided with a piezoelectric crystal, an electrode, a matching layer, a backing layer, a horn and a tool head, and the tool head is connected to the probe through a converter; The ultrasonic transducer transmits detection sound waves with matching frequencies according to different objects. When detecting steel plates and cast iron, the ultrasonic module transmits low-frequency ultrasonic waves with a frequency of 0.5MHz to 5MHz for detection. When detecting aluminum alloys and plastics, the ultrasonic module transmits medium-frequency ultrasonic waves with a frequency of 5MHz to 15MHz for detection. When detecting fine workpieces and thin plates, the ultrasonic module transmits high-frequency ultrasonic waves with a frequency of 15MHz to 100MHz for detection. Furthermore, the visual sensor is internally provided with a light source, a lens, an image sensor, an analog-to-digital converter, an image processor and an image memory. The light source is used to illuminate the object to be detected, the lens focuses the light onto the image sensor, the image sensor converts the optical image into an electrical signal through the photoelectric effect, the analog-to-digital converter converts the analog electrical signal transmitted by the image sensor into a digital signal, the image processor performs edge detection and feature extraction on the received digital signal and stores it in the image memory, and transmits the information to the signal processing module, the signal processing module compares the extracted features with the information in the database, identifies the material of the object to be detected, controls the ultrasonic module to emit ultrasonic waves of suitable frequency for detection, and detects steel plates and cast iron. The ultrasonic module transmits low-frequency ultrasonic waves with a frequency of 0.5MHz to 5MHz for detection. When detecting aluminum alloy and plastic, the ultrasonic module transmits medium-frequency ultrasonic waves with a frequency of 5MHz to 15MHz for detection. When detecting fine workpieces and thin plates, the ultrasonic module transmits high-frequency ultrasonic waves with a frequency of 15MHz to 100MHz for detection. The function of selecting ultrasonic waves of appropriate frequencies for detection of different materials is realized, which solves the problems of excessive or insufficient ultrasonic information received by objects and inaccurate ultrasonic detection results. It can ensure that the reflection and scattering signals of defects are strong enough when ultrasonic waves propagate in objects, reduce the attenuation of ultrasonic waves, improve the detection efficiency of terminals, and improve the range and accuracy of terminal detection.

[0026] Example 4: Please refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 A wireless Internet of Things ultrasonic intelligent nondestructive testing terminal includes an ultrasonic module, an environment sensing module, a motion module, a signal processing module and a controller. The detection method of the ultrasonic intelligent nondestructive testing terminal is: S1: The operator controls the motion module through the controller to drive the terminal to move to the position of the object to be detected; S2: The environment perception module detects the terminal working environment; S3: The ultrasonic module detects the object to be detected; S4: The signal processing module processes and analyzes the ultrasonic signal; S5: The signal processing module feeds back the analysis result to the operator; The environment sensing module is internally provided with a temperature sensor, a humidity sensor and a sound sensor; The S2 is specifically: S21: The temperature sensor detects the temperature of the environment in which the detected object is located, and transmits the detection information to the signal processing module; S22: The humidity sensor detects the humidity of the environment in which the detected object is located, and transmits the detection information to the signal processing module; S23: The sound sensor detects the humidity of the environment in which the detected object is located, and transmits the detection information to the signal processing module; S24: The signal processing module compares the received temperature, humidity and sound information with preset values, the preset value range of temperature is -10°C to 40°C, the preset value range of humidity is 40% to 60%, and the preset value range of sound is 50 to 70 decibels; S25: When the temperature, humidity and sound of the environment where the detected object is located meet the terminal working environment standards, the terminal detects the detected object; S26: When the temperature, humidity and sound of the environment where the detected object is located do not meet the terminal working environment standards, the motion module drives the terminal to move and selects a position that meets the terminal working environment standards for detection; The motion module is internally provided with a motion motor, a connecting shaft, a fixer and a wheel, the motion motor is connected to the signal processing module through signal transmission, the wheel is connected to the motion motor through the connecting shaft, and a fixer is installed at the connection between the wheel and the connecting shaft; The S1 is specifically: S11: The ultrasonic module transmits a ranging sound wave with a frequency of 40kHz to the detected object, and calculates the distance between the terminal and the detected object by recording the time of receiving the reflected sound wave through the formula s=vt, where s is the specific distance between the terminal and the detected object, v is the speed of the ranging sound wave in the air 340m / s, and t is the time from the ultrasonic module transmitting the ranging sound wave to receiving the reflected sound wave; S12: The motion module stops moving when s is not greater than 0.5 mm; Furthermore, when conducting ultrasonic non-destructive inspection, the environment where the object to be inspected is not suitable for the operator to enter. The operator takes out the terminal and places it on the ground. The controller controls the motion module to drive the terminal to move. The visual sensor collects environmental information on the terminal's moving path and transmits the data to the control, making it convenient for the operator to control the movement of the terminal. When the terminal moves near the object to be inspected, the visual sensor collects information about the object to be inspected and transmits it to the signal processing module. After analysis and comparison, the ultrasonic module selects ultrasonic waves of appropriate frequency to detect the object to be inspected, and transmits the detection results to the controller to feed back to the operator. The function of ultrasonic detection in complex environments is realized, which solves the problems of difficult terminal detection in complex environments, large errors in detection results, and safety hazards. It can broaden the application scenarios of terminal detection, improve the reliability and accuracy of terminal detection, ensure the safety of operators, and improve the flexibility of the terminal.

[0027] Example 5: Please refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 A wireless Internet of Things ultrasonic intelligent nondestructive testing terminal includes an ultrasonic module, an environment sensing module, a motion module, a signal processing module and a controller. The detection method of the ultrasonic intelligent nondestructive testing terminal is: S1: The operator controls the motion module through the controller to drive the terminal to move to the position of the object to be detected; S2: The environment perception module detects the terminal working environment; S3: The ultrasonic module detects the object to be detected; S4: The signal processing module processes and analyzes the ultrasonic signal; S5: The signal processing module feeds back the analysis result to the operator; The environment sensing module is internally provided with a temperature sensor, a humidity sensor and a sound sensor; The S2 is specifically: S21: The temperature sensor detects the temperature of the environment in which the detected object is located, and transmits the detection information to the signal processing module; S22: The humidity sensor detects the humidity of the environment in which the detected object is located, and transmits the detection information to the signal processing module; S23: The sound sensor detects the humidity of the environment in which the detected object is located, and transmits the detection information to the signal processing module; S24: The signal processing module compares the received temperature, humidity and sound information with preset values, the preset value range of temperature is -10°C to 40°C, the preset value range of humidity is 40% to 60%, and the preset value range of sound is 50 to 70 decibels; S25: When the temperature, humidity and sound of the environment where the detected object is located meet the terminal working environment standards, the terminal detects the detected object; S26: When the temperature, humidity and sound of the environment where the detected object is located do not meet the terminal working environment standards, the motion module drives the terminal to move and selects a position that meets the terminal working environment standards for detection; The motion module is internally provided with a motion motor, a connecting shaft, a fixer and a wheel, the motion motor is connected to the signal processing module through signal transmission, the wheel is connected to the motion motor through the connecting shaft, and a fixer is installed at the connection between the wheel and the connecting shaft; The S1 is specifically: S11: The ultrasonic module transmits a ranging sound wave with a frequency of 40kHz to the detected object, and calculates the distance between the terminal and the detected object by recording the time of receiving the reflected sound wave through the formula s=vt, where s is the specific distance between the terminal and the detected object, v is the speed of the ranging sound wave in the air 340m / s, and t is the time from the ultrasonic module transmitting the ranging sound wave to receiving the reflected sound wave; S12: The motion module stops moving when s is not greater than 0.5 mm; The S3 is specifically: S31: The visual sensor collects information about the detected object and transmits the information to the signal processing module. By comparing the information with the information in the database, the ultrasonic transducer detects the detected object according to the detection sound waves with matching frequencies emitted by different objects; S32: The ultrasonic module receives the reflected ultrasonic wave and transmits the information to the signal processing module; S33: The operator controls the converter to switch the probe to detect the object at the same point; S33: The motion module drives the terminal to move and perform multi-point detection on the detection object; S34: After the multi-point detection is completed, repeat the operation to perform a second detection on the detected object; Furthermore, the operator controls the terminal through the controller to complete the detection of the detected object. During the detection process, the terminal collects information about the environment of the terminal's movement route through the visual sensor and transmits the information to the controller. The operator controls according to the information transmitted back. When the terminal approaches the detected object, the ultrasonic module detects the distance between the terminal and the detected object. After reaching the specified distance, the environmental detection module detects the working environment of the terminal and transmits the information to the controller. After comparison, when the environmental conditions are unqualified, the operator controls the terminal to move through the controller and selects a position where the conditions meet the preset values ​​for detection. During the detection process, the information fed back by the ultrasonic module is processed by the signal processing module and transmitted to the controller. The operator analyzes the situation of the detected object based on his own experience and the analysis results of the signal processing module. When there is a disagreement between the operator's judgment and the analysis results of the signal processing module, the terminal is driven by the motion module to return to the previous point for secondary detection, realizing the function of real-time feedback of the detection results and eliminating doubts about the results, solving the problem of large errors in ultrasonic detection results and the inability to provide real-time feedback, which can improve the accuracy of terminal detection, reduce operator errors, improve the economic benefits of the terminal, reduce the occurrence of accidents, and improve the convenience of terminal detection.

[0028] Working principle: The ultrasonic module transmits ultrasonic waves with a frequency of 40kHz to the detected object. The time t from the ultrasonic module transmitting the ultrasonic wave to receiving the reflected ultrasonic wave is recorded. The distance s between the terminal and the detected soil is calculated by s=vt. The speed v of the ultrasonic wave is 300m / s. When the distance between the terminal and the detected object is less than or equal to 0.5mm, the motion module stops moving. The temperature sensor receives and focuses infrared radiation through the optical system and guides the infrared radiation to the detection element. The detection element converts the received infrared radiation into an electrical signal. After amplification and processing by the conversion circuit, the signal is transmitted to the signal processing module. The humidity sensor transmits information about the change in resistance value to the signal processing module through the processing circuit. The sound sensor uses sound waves to vibrate the electret film in the microphone to generate a small voltage. After processing by the processing circuit, the information is transmitted to the signal processing module. After comparison with the preset values, the temperature is ensured to be within the range of -10℃ to 40℃, the humidity is within the range of 40% to 60%, and the sound is within the range of 50 to 70 decibels. The terminal starts to detect the detected object. After comparison with the preset values, if the temperature, humidity and sound are not within the preset range, the motion module drives the terminal to move to other locations to collect and compare environmental information to ensure that the working environment conditions of the terminal are within the preset range. After the visual sensor performs edge detection and feature extraction on the detected object, the information is transmitted to the signal processing module. The signal processing module compares the extracted features with the information in the database, identifies the material of the detected object, and controls the ultrasonic module to emit ultrasonic waves of suitable frequency for detection. After the ultrasonic module completes the detection of the detected object, the signal processing module controls the motion motor to drive the wheels to rotate through the connecting shaft, moves the terminal from the current position to another position of the detected object, and controls the distance between the terminal and the detected object to be less than or equal to 0.5mm to detect the detected object again. Repeat the operation to perform multi-directional and multi-point detection of the detected object; When conducting ultrasonic non-destructive inspection, the environment of the object to be inspected is not suitable for operators to enter. The operator takes out the terminal and places it on the ground. The controller controls the motion module to drive the terminal to move. The visual sensor collects environmental information on the terminal's moving path and transmits the data to the control, which is convenient for the operator to control the movement of the terminal. When the terminal moves near the object to be inspected, the visual sensor collects information about the object to be inspected and transmits it to the signal processing module. After analysis and comparison, the ultrasonic module selects ultrasonic waves of appropriate frequency to detect the object to be inspected, and transmits the detection results to the controller to feed back to the operator.

[0029] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A wireless Internet of Things ultrasonic intelligent non-destructive testing terminal, characterized by: The ultrasonic intelligent nondestructive testing terminal comprises an ultrasonic module, an environmental perception module, a motion module, a signal processing module and a controller. The detection method of the ultrasonic intelligent nondestructive testing terminal is as follows: S1: The operator controls the motion module through the controller to drive the terminal to move to the position of the object to be detected; S2: The environment perception module detects the terminal working environment; S3: The ultrasonic module detects the object to be detected; S4: The signal processing module processes and analyzes the ultrasonic signal; S5: The signal processing module feeds back the analysis result to the operator; The environment sensing module is internally provided with a temperature sensor, a humidity sensor and a sound sensor; The S2 is specifically: S21: The temperature sensor detects the temperature of the environment in which the detected object is located, and transmits the detection information to the signal processing module; S22: The humidity sensor detects the humidity of the environment in which the detected object is located, and transmits the detection information to the signal processing module; S23: The sound sensor detects the humidity of the environment in which the detected object is located, and transmits the detection information to the signal processing module; S24: The signal processing module compares the received temperature, humidity and sound information with preset values, the preset value range of temperature is -10°C to 40°C, the preset value range of humidity is 40% to 60%, and the preset value range of sound is 50 to 70 decibels; S25: When the temperature, humidity and sound of the environment where the detected object is located meet the terminal working environment standards, the terminal detects the detected object; S26: When the temperature, humidity and sound of the environment where the detected object is located do not meet the terminal working environment standards, the motion module drives the terminal to move and selects a position that meets the terminal working environment standards for detection.

2. According to claim 1, a wireless Internet of Things ultrasonic intelligent nondestructive testing terminal is characterized in that: The ultrasonic module is internally provided with a visual sensor, a probe, a converter, and an ultrasonic transducer, and the probe is connected to the ultrasonic transducer via the converter.

3. According to claim 1, a wireless Internet of Things ultrasonic intelligent nondestructive testing terminal is characterized in that: The ultrasonic signal emitted by the ultrasonic module is a ranging sound wave and a detection sound wave. The frequency of the ranging sound wave is 40kHz, and the frequency of the detection sound wave is 0.5MHz to 100MHz.

4. According to claim 1, a wireless Internet of Things ultrasonic intelligent nondestructive testing terminal is characterized in that: The S1 is specifically: S11: The ultrasonic module transmits a ranging sound wave with a frequency of 40kHz to the detected object, and calculates the distance between the terminal and the detected object by recording the time of receiving the reflected sound wave through the formula s=vt, where s is the specific distance between the terminal and the detected object, v is the speed of the ranging sound wave in the air 340m / s, and t is the time from the ultrasonic module transmitting the ranging sound wave to receiving the reflected sound wave; S12: When s is not greater than 0.5 mm, the motion module stops moving.

5. The wireless Internet of Things ultrasonic intelligent nondestructive testing terminal according to claim 1 is characterized in that: The motion module is internally provided with a motion motor, a connecting shaft, a fixer and wheels. The motion motor is connected to the signal processing module through signal transmission, the wheel is connected to the motion motor through the connecting shaft, and a fixer is installed at the connection between the wheel and the connecting shaft.

6. The wireless Internet of Things ultrasonic intelligent nondestructive testing terminal according to claim 1 is characterized by: The S3 is specifically: S31: The visual sensor collects information about the detected object and transmits the information to the signal processing module. By comparing the information with the information in the database, the ultrasonic transducer detects the detected object according to the detection sound waves with matching frequencies emitted by different objects; S32: The ultrasonic module receives the reflected ultrasonic wave and transmits the information to the signal processing module; S33: The operator controls the converter to switch the probe to detect the object at the same point; S33: The motion module drives the terminal to move and perform multi-point detection on the detection object; S34: After the multi-point detection is completed, repeat the operation to perform a second detection on the detected object.

7. The wireless Internet of Things ultrasonic intelligent nondestructive testing terminal according to claim 1 is characterized by: The S4 is specifically: S41: The ultrasonic module converts the received echo into an electrical signal and transmits it to the signal processing module; S42: The signal processing module records the echo time of the ultrasonic module; S43: The signal processing module amplifies and filters the received echo signal; S44: Compare the echo signal with a preset standard to determine the nature, location and size of the defect; S45: After the signal processing module analyzes the echo signal, the analysis result is transmitted to the operator.

8. The wireless Internet of Things ultrasonic intelligent nondestructive testing terminal according to claim 2 is characterized in that: The ultrasonic transducer is internally provided with a piezoelectric crystal, an electrode, a matching layer, a backing layer, a horn and a tool head, and the tool head is connected to the probe through a converter.

9. The wireless Internet of Things ultrasonic intelligent nondestructive testing terminal according to claim 6, characterized in that: The ultrasonic transducer transmits detection sound waves with matching frequencies according to different objects. When detecting steel plates and cast iron, the ultrasonic module transmits low-frequency ultrasonic waves with a frequency of 0.5MHz to 5MHz for detection. When detecting aluminum alloys and plastics, the ultrasonic module transmits medium-frequency ultrasonic waves with a frequency of 5MHz to 15MHz for detection. When detecting fine workpieces and thin plates, the ultrasonic module transmits high-frequency ultrasonic waves with a frequency of 15MHz to 100MHz for detection.

10. The wireless Internet of Things ultrasonic intelligent nondestructive testing terminal according to claim 6, characterized in that: The method for detecting the object to be detected by the ultrasonic transducer based on the detection sound waves with matching frequencies emitted by different objects is as follows: the operator disconnects the power supply of the ultrasonic transducer through the controller, the visual sensor transmits the signal of the object to be detected to the signal processing module, the signal processing module compares the information with the information in the database, and controls the ultrasonic module to automatically adjust the frequency. After the adjustment is completed, the power controller is restored to control the ultrasonic module to test the object to be detected.

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